Festo SFC-LAC CO Series, Руководство пользователя, Страница: 140 / 328

5. Commissioning
5−50
Festo P.BE−SFC−LAC−CO−EN en 0708NH
4. Reference travel (requires status 1.4 or 1.5)
Step/Description Control bytes Status bytes
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
4.1 Start reference Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL 4.1 Start reference
travel
CCON 0 x x x 0 x 1 1 SCON 0 x 0 1 0 0 1 1
Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 F 0 1 SPOS 0 0 0 0 0 0 1 1
4.2 Reference travel
Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
4.2 Reference travel
runs
CCON 0 x x x 0 x 1 1 SCON 0 x 0 1 0 0 1 1
Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 1 0 1 SPOS 0 0 0 1 0 0 1 1
4.3 Reference travel
Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
4.3 Reference travel
concluded
CCON 0 x x x 0 x 1 1 SCON 0 x 0 1 0 0 1 1
Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1
0: 0−signal; 1: 1−signal; x: not relevant (optional); F: Edge positive
Tab.5/7: Control and status bytes Reference travel"
Description of 4. Reference travel
4.1 A positive edge at CPOS.B2 HOM (Start reference
travel) starts the reference travel. The start is confirmed
with SPOS.B1 CK (Acknowledge Start) as long as
CPOS.B2 HOM is set.
4.2 Movement of the axis is shown with SPOS.B4
(MOV, Axis moves).
4.3 After successful reference travel SPOS.B2
(MC, Motion Complete) and SPOS.B7 (REF) will be set.
If there are faults during reference travel:
}
Error treatment: see example 3, Tab.5/6.